Elongate flexible systems with articulation joint assembly

A catheter system comprising:

• an articulation joint including a first pair of links and a second pair of links, each link including a central channel enclosed at least in part by radially extending arcuate segments, wherein the first pair of links includes a first link and a second link, and the second pair of links includes the second link and a third link;
• a tubular liner extending through the central channel, wherein the tubular liner includes an outer surface including a groove sized to receive at least one of an imaging component, a sensor, an illumination component, or an irrigation component;
• a first pair of springs coupled between the first and second links and extending between a pair of the arcuate segments of the first link and a first pair of the arcuate segments of the second link;
• a second pair of springs coupled between the second and third links and extending between a second pair of the arcuate segments of the second link and a pair of the arcuate segments of the third link, wherein the second pair of springs is offset in angular position from the first pair of springs;
• a first pair of control wires extending through the first pair of springs;
• and
• a second pair of control wires extending through the second pair of springs,
• wherein at least one spring of the first pair of springs has a spring wall and the first link includes a link wall and wherein the spring wall shares a radial dimension with the link wall.